Implementation of unconsciousness movements for mobile robot by using sonar sensor
ABSTRACT Generally, animals have multiple sensoria, but they cannot process all environmental insults because their ability of processing the environmental information from sensoria is limited. However, all animals seem to be acting appropriately in complex environments. This is not because animals process all environmental information, but because they can decide flexibly the order of what to do first and can utilize efficiently a limited resource. In other words, animals can ignore efficiently extraneous matter. In this paper, we attempt to implement the schema of "IGNORE" in order to utilize a limited resource of autonomous mobile robot by using the concept of consciousness. Especially, we focus on the unconsciousness movements such as obstacle avoidance or speed control of autonomous mobile robot. If these functions were implemented without heavy load to the system, the whole performance of the robot system will be increase. In this paper, we implement the unconsciousness movements by using poor sensor and processor. Furthermore, we consider the possibility to construct a fruitful combination of conscious and unconscious movements.
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Conference Proceeding: Precision measurement for microsurgical instrument evaluation[show abstract] [hide abstract]
ABSTRACT: An accurate three-dimensional optical sensing system to track the tip of a microsurgical instrument has been developed for laboratory use. The system is useful for evaluation of microsurgical instrument designs and devices for accuracy enhancement (both robotic devices and active hand-held instrument), as well as for assessment and training of microsurgeons. It can also be used as a high-precision input interface to micro-surgical simulators. Tracking is done by illuminating the workspace at an infrared wavelength and using optical sensors to find the position of a small reflective ball at the instrument tip. The RMS noise per coordinate is presently 1 micron. Sample results are presented.Engineering in Medicine and Biology Society, 2001. Proceedings of the 23rd Annual International Conference of the IEEE; 02/2001
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ABSTRACT: A new measuring system is proposed that can measure the motions of arbitrary rigid bodies moving in 6 degrees of freedom. The measurement principle is based on the detection of laser beams reflected from a specially fabricated three-facet mirror that looks like a triangular pyramid having an equilateral cross-sectional shape. The mirror is mounted on the object to be measured. It reflects a laser beam, generated from a source, in three different directions, depending on the motion of the object of interest. The reflected beam is then detected by three position-sensitive detectors (PSDs). From the signals of the PSDs, we can calculate the 3-D position and orientation of the three- facet mirror, thus enabling us to determine the 3-D position and orientation of the object. We model the relationship between the 3-D position and orientation of an object in motion and the outputs of three PSDs. A series of experiments are performed to demonstrate the effectiveness and accuracy of the proposed method. The experimental results show that the proposed sensing system can be an effective means of obtaining 3-D position and orientation of arbitrary objects and provides reasonable measurement accuracy.Optical Engineering - OPT ENG. 01/2002; 41(4):860-871.
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ABSTRACT: Today, the ultrasonic TOF (time-of-flight) ranging system is the most common sensing system employed in indoor mobile robotic systems, primarily due to the easy availability of low-cost systems, their compact size, simple circuits, and their ease in interfacing with computers. TOF ranging systems measure the round-trip time required for a pulse of emitted energy to travel to a reflecting object and then echo back to a receiver. However, ultrasonic TOF ranging systems tend to neglect infinitesimal reflected waves below the threshold level. We have proposed a new approach to utilize the infinitesimal reflected waves by integrating the reflected waves. This is implemented using a transducer with a scanning system, and has a great ability of obtaining the travelable area for a robot in environments in which the distance cannot be precisely measured. The proposed system is constructed in a simple manner so as to improve the utility value of the sonar. This paper introduces the speed control strategy under uncertainty of sensor information. By considering the uncertainty of sensor information, we change the action strategy. By changing the action strategy, sensor information which is obtained by the robot changes at the same time. By using this relationship, we construct the robust robot system. The validity of the proposed method is investigated by applying this method to an autonomous mobile robot in various environments such as one with multiple obstacles, at the end of the hall, and so on.Advanced Robotics and its Social Impacts, 2005. IEEE Workshop on; 07/2005